Space Trajectory On-Line Interpolation Technique of Six-DOF Robot
This paper presents a real-time interpolation algorithm of the space trajectory which based on the theory of coordinate transform. The algorithm can solve the path planning problem of six-DOF robot. According to the actual movement state of robot, the algorithm can obtain some key points for the rob...
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| Veröffentlicht in: | Applied Mechanics and Materials 2014-04, Vol.536-537 (Advances in Mechatronics, Robotics and Automation II), p.959-964 |
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| container_end_page | 964 |
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| container_issue | Advances in Mechatronics, Robotics and Automation II |
| container_start_page | 959 |
| container_title | Applied Mechanics and Materials |
| container_volume | 536-537 |
| creator | Zheng, Ke Ou, Xi Yang Hou, Xing Zhe Ji, Jing Du, Xiang |
| description | This paper presents a real-time interpolation algorithm of the space trajectory which based on the theory of coordinate transform. The algorithm can solve the path planning problem of six-DOF robot. According to the actual movement state of robot, the algorithm can obtain some key points for the robot motion path by teaching. Then it can realize the dimensional random trajectory interpolation by coordinate transformation after building a suitable dimensional coordinate. Finally it can obtain the corresponding joint angle though the inverse kinematics solution. The experimental results show that this algorithm has a good rapidity and practicality, it suit for the six-DOF robot real-time trajectory interpolation, so it is worth promoting. |
| doi_str_mv | 10.4028/www.scientific.net/AMM.536-537.959 |
| format | Article |
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| ispartof | Applied Mechanics and Materials, 2014-04, Vol.536-537 (Advances in Mechatronics, Robotics and Automation II), p.959-964 |
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| source | Scientific.net Journals |
| subjects | Algorithms Coordinate transformations Education Interpolation On-line systems Real time Robots Trajectories |
| title | Space Trajectory On-Line Interpolation Technique of Six-DOF Robot |
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